tdw_physics controllers

Arguments

These arguments are common for every controller.

Argument	Type	Default	Description
--dir	str	"D:/" + dataset_dir dataset_dir is defined by each controller.	Root output directory.
--num	int	3000	The number of trials in the dataset.
--temp	str	D:/temp.hdf5	Temp path for incomplete files.
--width	int	256	Screen width in pixels.
--height	int	256	Screen height in pixels.

Controllers

Scenario	Description	Script	Type
Toy Collisions	Three randomly "toys" are created with random physics values. A force of randomized magnitude is applied to one toy, aimed at another.	toy_collisions.py	RigidbodiesDataset
Occlusion	Random "big" and "small" models are added. The small object is at random distance and angle from the big object. The camera is placed at a random distance and rotated such that the "big" model occludes the "small" model in some frames.	occlusion.py	TransformsDataset
Permanence	A ball rolls behind an occluding object and then reemerges. The occluder is randomly chosen from a list. The ball has a random starting distance, visual material, physics values, and initial force.	permanence.py	RigidbodiesDataset
Shadows	A ball is added in a scene with a randomized lighting setup. The ball has a random initial position, force vector, physics values, and visual materials. The force vectors are such that the ball typically rolls through differently-lit areas, i.e. a bright spot to a shadowy spot.	shadows.py	RigidbodiesDataset
Falling	Objects are added to a scene. "Small" objects are given a random upwards force vector, and fall downward under gravity. Note: There are two controllers. One is a proc-gen setup and one is nicer-looking but assembled by-hand.	table_scripted.py --scenario fall and table_proc_gen.py --scenario fall	RigidbodiesDataset
Sliding/Rolling	Objects are placed on a table. A random force is applied at a random point on the table. The objects slide or roll down. Note: There are two controllers. One is a proc-gen setup and one is nicer-looking but assembled by-hand.	table_scripted.py --scenario tilt and table_proc_gen.py --scenario tilt	RigidbodiesDataset
Bouncing	4 "ramp" objects are placed randomly in a room. 2-6 "toy" objects are added to the room in mid-air and given random physics values and force vectors such that they will bounce around the scene.	bouncing.py	RigidbodiesDataset
Stability	A stack of 4-7 objects is created. The objects are all simple shapes with random colors. The stack is built according to a "stability" algorithm; some algorithms yield more balanced stacks than others. The stack falls down, or doesn't. (See comments in controller)	stability.py	RigidbodiesDataset
Draping/Folding	A cloth falls; 80% of the time onto another object. The cloth has random physics values.	draping.py	FlexDataset
Dragging	A rigid object is dragged or moved by pulling on a cloth under it. The cloth and the object have random physics values. The cloth is pulled in by a random force vector.	dragging.py	FlexDataset
Containment	A small object is contained and rattles around in a larger object, such as a bowl. The small object has random physics values. The bowl has random force vectors.	containment.py	RigidbodiesDataset
Squishing	Squishy objects deform and are restored to original shape depending on applied forces (e.g. squished when something else is on top of them or when they impact a barrier). Objects are given random "pressure" values.	squishing.py	FlexDataset
Submerging	Objects sink or float in different types of fluids.	submerging.py	FlexDataset

Requirements

	Flex-compatible system	Full model library
Toy Collisions		✓
Occlusion		✓
Permanence		✓
Shadows		✓
Falling		✓
Sliding/Rolling		✓
Bouncing		✓
Stability
Draping/Folding	✓	✓
Dragging	✓	✓
Containment		✓
Squishing	✓
Submerging	✓ (Windows only)	✓